#cmake_minimum_required(VERSION 2.4.6)
#include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

#rosbuild_init()

#set the default path for built executables to the "bin" directory
#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})

#add dynamic reconfigure api
#rosbuild_find_ros_package(dynamic_reconfigure)
#include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
#gencfg()

#rosbuild_add_executable(so3_disturbance_generator src/so3_disturbance_generator.cpp)
#target_link_libraries(so3_disturbance_generator pose_utils)
#----------------------------------
cmake_minimum_required(VERSION 2.8.3)
project(so3_disturbance_generator)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  sensor_msgs
  nav_msgs
  visualization_msgs
  tf
  pose_utils
  dynamic_reconfigure
)

find_package(Armadillo REQUIRED)
include_directories(${ARMADILLO_INCLUDE_DIRS})

catkin_package()

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
)

add_executable(so3_disturbance_generator src/so3_disturbance_generator.cpp)
add_dependencies(so3_disturbance_generator ${PROJECT_NAME}_gencfg)
target_link_libraries(so3_disturbance_generator 
   ${catkin_LIBRARIES}
   ${ARMADILLO_LIBRARIES}
)

